U.S. patent application number 15/255548 was filed with the patent office on 2016-12-22 for methods for controlling operation of a valve.
The applicant listed for this patent is Capstan Ag Systems, Inc.. Invention is credited to Andrew J. Holtz, Duane Needham.
Application Number | 20160369913 15/255548 |
Document ID | / |
Family ID | 46787407 |
Filed Date | 2016-12-22 |
United States Patent
Application |
20160369913 |
Kind Code |
A1 |
Needham; Duane ; et
al. |
December 22, 2016 |
METHODS FOR CONTROLLING OPERATION OF A VALVE
Abstract
An electric solenoid valve, methods for operating and/or
actuating the solenoid valve, valve system diagnostics, and
applications for use are described. The valve may be designed to
actuate in a manner so as to control liquid flow into and/or
through a device, such as a spray nozzle. By altering the
characteristics of the electrical signal transmitted to the
solenoid valve, the instantaneous pressure across the valve and
duration of fluid flow through the valve can be controlled with a
single actuator. Controlled cyclic durations of flow may be
implemented to regulate the exact timing of flow through the valve.
Alternatively, cyclic durations may occur with a pulse-width
modulation technique in which the duty cycle regulates average flow
rate through the valve.
Inventors: |
Needham; Duane; (San
Francisco, CA) ; Holtz; Andrew J.; (Atascadero,
CA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Capstan Ag Systems, Inc. |
Topeka |
KS |
US |
|
|
Family ID: |
46787407 |
Appl. No.: |
15/255548 |
Filed: |
September 2, 2016 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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13410589 |
Mar 2, 2012 |
9435458 |
|
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15255548 |
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61449924 |
Mar 7, 2011 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B05B 12/087 20130101;
B05B 1/3053 20130101; B05B 15/50 20180201; B05B 1/083 20130101;
B05B 12/085 20130101; F16K 31/0627 20130101; F16K 31/0658 20130101;
B05B 12/008 20130101; Y10T 137/0318 20150401; G05D 16/2013
20130101; F16K 31/0606 20130101; A01G 25/16 20130101; Y10T
137/86413 20150401 |
International
Class: |
F16K 31/06 20060101
F16K031/06; B05B 12/08 20060101 B05B012/08; G05D 16/20 20060101
G05D016/20; A01G 25/16 20060101 A01G025/16 |
Goverment Interests
STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT
[0002] Certain aspects of the present invention were conceived
during research funded by a USDA-CSREES-SBIR-002363 grant. The
Government may have certain rights in the present invention.
Claims
1. A method for controlling the operation of a valve, the valve
including a poppet movable relative to a valve inlet and a valve
outlet, the method comprising: receiving an input associated with a
desired outlet pressure for a fluid supplied through the valve;
receiving an input associated with an inlet pressure of the fluid
supplied to the valve; determining, with a controller, a desired
poppet displacement for the valve based on the inlet pressure and
the desired outlet pressure; and controlling current supplied to
the valve such that the poppet is displaced between a sealed
position and a throttling position and maintained at the throttling
position, wherein a distance between the sealed position and the
throttling position corresponds to the desired poppet
displacement.
2. The method of claim 1, wherein the valve is mounted to or
integrated within a spray nozzle, the method further comprising
receiving an input associated with a size or a flow coefficient of
the spray nozzle.
3. The method of claim 1 further comprising determining orifice
pressure drop ratios for a plurality of poppet displacements for
the valve.
4. The method of claim 3 further comprising determining outlet
pressures for the plurality of poppet displacements based on the
orifice pressure drop ratios and the inlet pressure.
5. The method of claim 4, wherein determining, with a controller, a
desired poppet displacement for the valve based on the inlet
pressure and the desired outlet pressure comprises comparing the
outlet pressures to the desired outlet pressure in order to
determine the desired poppet displacement.
6. The method of claim 1 further comprising determining a poppet
force acting on the poppet at the throttling position based on the
desired poppet displacement.
7. The method of claim 6, wherein determining a poppet force acting
on the poppet at the throttling position based on the desired
poppet displacement comprises determining a coil force acting on
the poppet at the throttling position based on the desired poppet
displacement.
8. The method of claim 7 further comprising determining a desired
coil current to maintain the poppet at the throttling position
based on the coil force.
9. The method of claim 8, wherein controlling current supplied to
the valve such that the poppet is displaced between a sealed
position and a throttling position and maintained at the throttling
position comprises supplying the desired coil current to the valve
such that the poppet is moved to the throttling position.
10. The method of claim 1, wherein controlling a current supplied
to the valve such that the poppet is displaced between a sealed
position and a throttling position and maintained at the throttling
position comprises supplying a dithering current to the valve.
11. The method of claim 10 further comprising analyzing the
magnitude of a current ripple produced by the dithering current to
determine the poppet displacement.
12. The method of claim 1, wherein controlling a current supplied
to the valve such that the poppet is displaced between a sealed
position and a throttling position and maintained at the throttling
position comprises controlling the current supplied to the valve
such that the poppet is cyclically pulsed between the sealed
position and the throttling position according to a predetermined
duty cycle.
13. The method of claim 1 further comprising pulsing the poppet
along an axis of movement between the valve inlet and the valve
outlet, wherein the valve inlet and the valve outlet are generally
aligned along the axis of movement.
14. The method of claim 1, wherein the valve is mounted to or
integrated within a spray nozzle, wherein receiving an input
associated with a desired outlet pressure for a fluid supplied
through a valve comprises receiving an input associated with a
desired spray droplet size spectrum from the spray nozzle.
15. A method for controlling the flow of a fluid through a system,
the system including a valve and a controller in communication with
the valve, the valve including a poppet movable relative to a valve
inlet and a valve outlet, the method comprising: sensing a pressure
of fluid at at least one of the valve inlet and the valve outlet;
determining, with the controller, a desired poppet displacement
based on the sensed pressure; and displacing the poppet between a
sealed position and a throttling position based on the desired
poppet displacement.
16. The method of claim 15 further comprising maintaining the
poppet at the throttling position.
17. The method of claim 15, wherein the valve further includes a
solenoid coil configured to apply a force against the poppet when
current is supplied to the solenoid coil, the method further
comprising controlling, using the controller, the supply of current
to the solenoid coil to displace the poppet between the sealed
position and the throttling position.
18. The method of claim 17 further comprising controlling the
supply of current to the solenoid coil such that the poppet is
cyclically pulsed between the sealed position and the throttling
position according to a predetermined duty cycle.
19. The method of claim 15, wherein the poppet is moveable a total
stroke between the sealed position and a second position beyond the
throttling position, and wherein displacing the poppet between the
sealed position and the throttling position comprises displacing
the poppet a distance less than the total stroke of the poppet.
20. The method of claim 15, wherein the valve further includes a
guide defining the valve inlet and the valve outlet, wherein the
poppet is displaced within the guide, the poppet being sealed
against a portion of the valve inlet when at the sealed position.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a divisional of U.S. patent application
Ser. No. 13/410,589, filed on Mar. 2, 2012, which claims priority
to U.S. Provisional Patent Application No. 61/449,924, filed on
Mar. 7, 2011, the disclosures of which are hereby incorporated by
reference in their entirety for all purposes.
FIELD
[0003] The present subject matter relates generally to the design
and operation of electrically actuated valves. More particularly,
the present subject matter relates to the geometry, controlling
methods, diagnostics, and application of an electric solenoid valve
which may be configured to simultaneously control the instantaneous
pressure drop across and the duration of flow pulses through a
device, such as spray nozzle used in connection with agricultural
spraying systems.
BACKGROUND
[0004] In agricultural spraying, the flow rate through a spray
nozzle is important in order to deliver the specified amount of
active ingredient to a specified area. The proper flow rate is
often a function of nozzle spacing and vehicle ground speed.
[0005] Liquid pressure across the spray nozzle can also be an
important consideration. The pressure across a spray nozzle often
regulates the distribution of sizes of the droplets being
delivered. The distribution of droplet size and the application
conditions can influence the target coverage and the occurrence of
spray drift, where droplets are displaced by ambient wind and
subsequently land outside of the designated spray area. Chemical
type, plant canopy, and weather conditions often mandate the
droplet size that is required for a particular spraying
application.
[0006] Because the timing and rate of fluid flow and the desired
pressure are derived from different parameters, the ability to
control flow rate and pressure independently would be very
advantageous. Specifically, the ability to quickly and precisely
control the application rate and droplet size, at a high degree of
spatial resolution, is important in achieving optimal pest control
and environmental protection. Moreover, agricultural spraying is
typically a low-margin business, as the spraying components used
are often very expensive. Thus, the control of both instantaneous
pressure and average flow rate using minimal components, such as by
using a single actuator, would be desirable.
[0007] Typical liquid agrochemical application systems pressurize
liquid from a reservoir and atomize the pressurized liquid streams
into droplets through the spray nozzles. Spray nozzles may be
selected to provide a range of droplet sizes, distribution
patterns, and flow rates for a desired liquid application.
Additionally, the pressure of the liquid supplied to the spray
nozzles is typically regulated system-wide with an in-line or
bypass valve, or through pump speed control. Moreover, in many
conventional spraying applications, the pressure at an individual
spray nozzle is considered only as it relates to the desired flow
rate, wherein the flow rate is proportional to the square root of
pressure. Consequently, large changes in pressure are required to
make moderate flow rate changes. Also, the pattern or spatial
distribution of the spray emitted from a spray nozzle is affected
by the liquid pressure. A decrease in pressure will increase the
droplet size and decrease the size of the spray pattern and the
overlap of the spray patterns between nozzles. Often, at low
pressures the pattern does not fully develop. This can result in
incomplete coverage or excess coverage in portions of the same
field.
[0008] Pulse width modulation (PWM) of the liquid supplied to each
spray nozzle is an alternative to system pressure variation for
flow control and is now a mature technology adopted in the U.S.,
Canada, and Australia. For example, known applications for PWM flow
control systems are disclosed in U.S. Pat. No. 5,134,961 (Giles et
al.), U.S. Pat. No. 5,653,389 (Henderson et al.), U.S. Pat. No.
7,311,004 (Giles) and U.S. Pat. No. 7,502,665 (Giles et al.) and
U.S. Pat. Pub. Nos. 2006/0273189 (Grimm et al.) and 2010/0032492
(Grimm et al), all of which are hereby incorporated by reference
herein in their entirety for all purposes.
[0009] In a PWM flow control system, the fluid pressure is
essentially held constant at a desired value to achieve the desired
droplet size spectrum and the fluid flow is interrupted in a
continuously cyclic timed sequence by an actuator positioned at the
nozzle inlet. Studies have shown that changes to droplet size
distributions of modulated sprays are negligible and that PWM flow
control methods may be used as a form of droplet size control.
Because PWM flow control systems allow for flow rate changes at
constant pressures, manipulation of the system pressure essentially
acts as a system-wide droplet size controller.
[0010] Increasing efficiency in agricultural spray operations has
trended toward machines with wider spray swaths and faster ground
speeds. A side effect of these increased efficiencies is that very
wide spray booms exaggerate application rate errors. One example of
these rate errors exists if the spray boom is executing a turn. The
spray nozzles on the inside of the turn travel slower than the
spray nozzles at the distal end of the boom. Thus, some areas
receive more material than desired resulting in higher chemical
residues, crop damage, and wasted pesticide while other areas
receive less material and a loss of pest control.
[0011] One of the advantages of modern PWM flow control systems is
the capability of individual nozzle rate control due to the
actuator positioned at each spray nozzle. The control of rate at
per-nozzle resolution results in fewer application rate errors due
to the ability to make adjustments to the rate at the highest
possible spatial resolution. However, the quality of an application
is dependent on numerous factors in addition to the quantity of
material applied. Specifically, droplet size remains an important
ingredient in maximizing efficacy and minimizing drift.
Unfortunately, even with modern PWM flow control systems, droplet
size is controlled in per-machine width resolution, that is, every
nozzle across the entire boom must produce the same droplet size
spectrum. There are many situations where adjusting the droplet
size on an individual nozzle may be desirable, including use in
narrow buffer zones where a larger droplet size is mandated for
mitigating spray drift. With current technology, a spray machine
with a 120-foot boom is required to maintain large droplets on a
120-foot swath, even if the mandated buffer zone is only 10 feet.
This application would reduce the efficacy of the application in
areas not at risk of drift. Modern global positioning systems with
centimeter-scale accuracy and high-speed computers are capable of
implementing very precise applications for diverse crops in close
proximity. To gain full use of these sensor and processing
technologies, the need for high treatable spatial resolution is
increasing. However, one of the primary limitations to precision
agricultural technology is the lack of high-quality actuation
systems to match the precision of today's advanced sensing systems.
Accordingly, there is a need for a system that can provide uniform
spray distribution with individual control of flow rate and droplet
size distribution of the spray emitted from each spray nozzle.
[0012] U.S. Pat. Pub. No. 2008/0230624 (Giles and Needham), which
is hereby incorporated by reference herein in its entirety for all
purposes, discloses a spray actuator that controls the flowrate of
liquid through a valve and the pressure drop across the valve
during the instantaneous flow. While this spray actuator provided a
basic idea for instantaneous pressure and average flow control,
significant improvements in actuator form and function are needed.
To illustrate, the characteristics of the spray actuator made
pressure control susceptible to fluctuating supply voltage,
fluctuating valve inlet pressure, and aging of rubber seals. In
addition, the spray actuator exhibited a lack of linearity of
control. Improvements to the valve geometry, control algorithms,
diagnostics, and applications of the single actuator concept would
be welcomed in the technology.
[0013] In light of the above highlighted design concerns in the
field of agricultural spraying, a need continues to exist for
refinements and improvements to address such concerns. While
various implementations of spray nozzles, nozzle assemblies,
spraying systems and control systems have been developed, no design
has emerged that is known to generally encompass all of the desired
characteristics hereafter presented in accordance with aspects of
the present subject matter.
BRIEF DESCRIPTION
[0014] Aspects and advantages of the invention will be set forth in
part in the following description, or may be obvious from the
description, or may be learned through practice of the
invention.
[0015] In several embodiments of the present subject matter, a
system for controlling the flow of fluid through a device is
disclosed. The system may generally include a valve and a
controller in communication with the valve. The valve may generally
include a guide defining an inlet and an outlet for receiving and
expelling fluid, respectively. The valve may also include a
solenoid coil disposed around the guide. In addition, the valve may
include a poppet configured to move within the guide between a
sealed position, wherein the poppet is sealed against a portion of
the valve outlet or the valve inlet, and a throttling position,
wherein the poppet is spaced apart a distance from the valve inlet
or the valve outlet. The valve inlet and the valve outlet may be
generally aligned along an axis of movement of the poppet. The
controller may be configured to control a supply of current to the
solenoid coil such that the poppet is displaced between the sealed
position and the throttling position.
[0016] In this aspect of the present subject matter, the poppet may
be sealed against a portion of the valve inlet when at the sealed
position.
[0017] Also in this aspect of the present subject matter, the
distance may be equal to less than 60% of a total stroke of the
poppet.
[0018] Further in this aspect of the present subject matter, the
controller may be configured to control the supply of current to
the solenoid coil such that, when the poppet is moved to the
throttling position, an outlet pressure of the valve is
controlled.
[0019] Also in this aspect of the present subject matter, the
controller may be configured to control the distance the poppet is
spaced apart from the valve inlet or the valve outlet by driving
the solenoid coil using a complex voltage waveform.
[0020] In this aspect of the present subject matter, the poppet
displacement between the sealed position and the throttling
position corresponds to a pulse. The controller may be configured
to control a duration of the pulse of the poppet in order to
control a quantity of flow through the valve.
[0021] Further in this aspect of the present subject matter, the
controlled quantity of flow may relate to an average flowrate
through the valve.
[0022] In this aspect of the present subject matter, the controller
may be configured to control the supply of current to the solenoid
coil such that the poppet is cyclically pulsed between the sealed
position and the throttling position according to a predetermined
duty cycle
[0023] Also in this aspect of the present subject matter, at least
one of the poppet and the guide may include a tapered portion at or
adjacent to the valve inlet. The tapered portion may define a taper
angle. The taper angle may, in some embodiments, range from about
25 degrees to about 45 degrees.
[0024] Further in this aspect of the present subject matter, the
valve may also include a spring coupled between the poppet and the
guide. The spring may be configured to move the poppet into a
closed position against the valve outlet when the current is
removed from the solenoid coil.
[0025] In this aspect of the present subject matter, the valve may
be mounted to or integrated within a spray nozzle so as to form a
nozzle assembly.
[0026] Also in this aspect of the present subject matter, the
nozzle assembly may be installed on a spray boom.
[0027] Further in this aspect of the present subject matter, the
nozzle assembly may be configured for use with a plant precursor
spraying system.
[0028] In this aspect of the present subject matter, the nozzle
assembly may be configured for use with a plant canopy sensing and
spray system.
[0029] Also in this aspect of the present subject matter, the
controller may be configured to control the supply of current to
the solenoid coil so as to control both the instantaneous pressure
drop across and the average flowrate through the spray nozzle.
[0030] Further in this aspect of the present subject matter, the
nozzle assembly may be configured to throttle fluid flow based on
the position of the poppet wherein the fluid flow relates to the
application rate in a liquid fertilizer application. In this
application, the on/off duration of flow may be used to achieve
individual nozzle shutoff.
[0031] Alternatively in this aspect of the present subject matter,
the nozzle assembly may be configured to throttle fluid flow based
on the position of the poppet wherein the fluid flow relates to the
application rate in an anhydrous ammonia application. In this
application, the on/off duration of flow may be used to achieve
individual nozzle shutoff.
[0032] Also in this aspect of the present subject matter, the
nozzle assembly may be configured to throttle fluid flow based on
the position of the poppet wherein the duration of the pulse of the
valve controls the placement of chemical in a planting application.
For example, fertilizers and pesticides may be sprayed directly on
or adjacent to seed, seedling or other plant precursor placements
to enhance germination and early plant development.
[0033] In this aspect of the present subject matter, the nozzle
assembly may be configured to throttle fluid flow based on the
position of the poppet wherein the synchronization and duration of
the pulse of the valve controls the placement of chemical on or
between plants in a row crop application. For example, the control
of fluid flow may regulate the application rate of the
chemical.
[0034] Also in this aspect of the present subject matter, the
nozzle assembly may be configured to throttle fluid pressure based
on the position of the poppet wherein the synchronization and
duration of the pulse of the valve controls the placement of
chemical on or between plants in a row crop application. For
example, the control of fluid pressure may regulate the
distribution of droplet size of the chemical.
[0035] Further in this aspect of the present subject matter, the
valve inlet and the valve outlet may be concentrically aligned
along the axis of movement of the poppet.
[0036] Additionally, in several embodiments of the present subject
matter, a solenoid valve is disclosed. The valve may include a
guide defining a valve inlet configured to receive fluid and a
valve outlet configured to expel fluid. The valve inlet and the
valve outlet may be generally aligned on an axis. The valve may
also include a solenoid coil disposed around the guide. In
addition, the valve may include a poppet configured to move within
the guide along the axis between a sealed position, wherein the
poppet is sealed against a portion of the valve outlet or the valve
inlet, and a throttling position, wherein the poppet is spaced
apart a distance from the valve inlet or the valve outlet. The
solenoid coil may be configured to apply a force against the poppet
when current is supplied to the solenoid coil such that the poppet
is displaced between the sealed position and the throttling
position.
[0037] Moreover, in several embodiments of the present subject
matter, a method for controlling the operation of a valve is
disclosed. The method may generally include receiving an input
associated with a desired outlet pressure of a fluid supplied
through the valve, receiving an input associated with an inlet
pressure of the fluid supplied to the valve, determining, with a
controller, a desired poppet displacement for the valve based on
the inlet pressure and the desired outlet pressure and controlling
current supplied to the valve such that the poppet is displaced
between a sealed position and a throttling position, wherein a
distance between the sealed position and the throttling position
corresponds to the desired poppet displacement.
[0038] In this aspect of the present subject matter, the valve may
be mounted to or integrated within a spray nozzle and the method
may also include receiving an input associated with a size or a
flow coefficient of the spray nozzle.
[0039] Also in this aspect of the present subject matter, the
method may include determining orifice pressure drop ratios for a
plurality of poppet displacements for the valve.
[0040] Further in this aspect of the present subject matter, the
method may include determining outlet pressures for the plurality
of poppet displacements based on the orifice pressure drop ratios
and the inlet pressure.
[0041] Also in this aspect of the present subject matter, the step
of receiving an input associated with a desired outlet pressure for
a fluid supplied through a valve may include receiving an input
associated with a desired spray droplet size spectrum from the
spray nozzle.
[0042] In this aspect of the present subject matter, the step of
determining, with a controller, the desired poppet displacement for
the valve based on the inlet pressure and the desired outlet
pressure may include comparing the outlet pressures to the desired
outlet pressure in order to determine the desired poppet
displacement
[0043] Also in this aspect of the present subject matter, the
method may include determining a poppet force acting on the poppet
at the throttling position based on the desired poppet
displacement. For instance, poppet forces may include spring
forces, fluid forces and coil forces acting on the poppet. Thus, in
one embodiment, the method may include determining a coil force
acting on the poppet at the throttling position based on the
desired poppet displacement.
[0044] Further in this aspect of the present subject matter, the
method may include determining a desired coil current to maintain
the poppet at the throttling position based on the coil force.
[0045] In this aspect of the present subject matter, the step of
controlling current supplied to the valve such that the poppet is
displaced between a sealed position and a throttling position may
include supplying the desired coil current to the valve such that
the poppet is moved to the throttling position.
[0046] Also in this aspect of the present subject matter, the step
of controlling current supplied to the valve such that the poppet
is displaced between a sealed position and a throttling position
may include supplying a dithering current to the valve.
[0047] Further in this aspect of the present subject matter, the
method may include analyzing the magnitude of a current ripple
produced by the dithering current to determine the poppet
displacement.
[0048] In this aspect of the present subject matter, the method may
allow for the simultaneous control of instantaneous pressure drop
across and the duration of cyclic flow pulses through the
valve.
[0049] Also in this aspect of the present subject matter, the
method may include cyclically pulsing the valve in order to
regulate an average flowrate through the valve.
[0050] Further in this aspect of the present subject matter, the
method may include analyzing system parameters, such as inlet
pressure, supplied voltage to the coil, spray nozzle flow
coefficient and/or the like, in order to calculate controlling
parameters for throttling the valve.
[0051] In this aspect of the present subject matter, the method may
include using measured coil current for closed-loop control in
order to implement accelerated poppet movement and outlet pressure
response of the valve.
[0052] Also in this aspect of the present subject matter, the
method may include using measured coil current to predict the
poppet position to be used as a diagnostic to verify valve
operation.
[0053] Further in this aspect of the present subject matter, the
method may include using measured outlet pressure for closed-loop
control of the outlet pressure of the valve.
[0054] In this aspect of the present subject matter, the method may
include using measured outlet pressure to calculate a
temporally-averaged fluid flow to be used as a diagnostic to verify
valve and nozzle operation.
[0055] Also in this aspect of the present subject matter, the step
of controlling a current supplied to the valve such that the poppet
is displaced between a sealed position and a throttling position
may include controlling the current supplied to the valve such that
the poppet is cyclically pulsed between the sealed position and the
throttling position according to a predetermined duty cycle.
[0056] Further in this aspect of the present subject matter, the
method may include pulsing the poppet along an axis of movement
between the valve inlet and the valve outlet, wherein the valve
inlet and the valve outlet are generally aligned along the axis of
movement.
[0057] These and other features, aspects and advantages of the
present invention will become better understood with reference to
the following description and appended claims. The accompanying
drawings, which are incorporated in and constitute a part of this
specification, illustrate embodiments of the invention and,
together with the description, serve to explain the principles of
the invention.
BRIEF DESCRIPTION OF THE DRAWINGS
[0058] A full and enabling disclosure of the present invention,
including the best mode thereof, directed to one of ordinary skill
in the art, is set forth in the specification, which makes
reference to the appended figures, in which:
[0059] FIG. 1 illustrates a simplified, cross-sectional view of one
embodiment of an electric solenoid valve in accordance with aspects
of the present subject matter;
[0060] FIG. 2 illustrates a simplified, cross-sectional view of
another embodiment of an electric solenoid valve in accordance with
aspects of the present subject matter;
[0061] FIG. 3 illustrates a perspective view of one embodiment of a
spraying system in which the disclosed solenoid valves may be
utilized in accordance with aspects of the present subject
matter;
[0062] FIG. 4 illustrates a perspective view of one embodiment of a
nozzle assembly in which the disclosed solenoid valves may be
utilized in accordance with aspects of the present subject
matter;
[0063] FIG. 5 illustrates one embodiment of a solenoid drive
circuit that may be utilized to drive the disclosed solenoid valves
in accordance with aspects of the present subject matter;
[0064] FIG. 6 illustrated a simplified view of another embodiment
of a spraying system in which the disclosed solenoid valves may be
utilized in accordance with aspects of the present subject
matter;
[0065] FIG. 7 illustrates a flow diagram of one embodiment of a
method for controlling the operation of a valve;
[0066] FIG. 8 illustrates a flow diagram of one embodiment of a
series of steps that may be performed when implementing the method
shown in FIG. 7;
[0067] FIG. 9 illustrates a flow diagram of one embodiment of a
series of steps that may be performed when implementing a method
for determining the duration of coil activation needed to achieve a
desired quantity of fluid flow;
[0068] FIG. 10 illustrates a flow diagram of one embodiment of a
series of steps that may be performed when implementing a method
for determining the duration of coil activation needed to achieve a
desired geometry and quantity of fluid flow; and
[0069] FIGS. 11-40B illustrate results and other information
related to an experimental analysis conducted in accordance with
aspects of the present subject matter.
DETAILED DESCRIPTION
[0070] Reference now will be made in detail to embodiments of the
invention, one or more examples of which are illustrated in the
drawings. Each example is provided by way of explanation of the
invention, not limitation of the invention. In fact, it will be
apparent to those skilled in the art that various modifications and
variations can be made in the present invention without departing
from the scope or spirit of the invention. For instance, features
illustrated or described as part of one embodiment can be used with
another embodiment to yield a still further embodiment. Thus, it is
intended that the present invention covers such modifications and
variations as come within the scope of the appended claims and
their equivalents.
[0071] In general, the present subject matter is directed to an
electric solenoid valve that provides simultaneous control of
instantaneous pressure drop across and cyclic durations of fluid
flow through the valve. In several embodiments, an actuator or
poppet of the valve may be configured to be pulsed within the valve
such that the cyclic durations control the average flowrate through
the valve. For example, the valve may be operated with a
pulse-width modulation, in which the poppet moves from a sealed
position to an open position relative to the valve inlet and/or
valve outlet and the duty cycle of the pulse controls the average
flowrate. Additionally, the pressure drop across the valve may be
controlled during each pulse of the poppet by regulating the
position to which the poppet is moved relative to the valve inlet
and/or the valve outlet. For instance, the displacement of the
poppet may be regulated such that the valve is partially opened
during each pulse. In other words, the poppet may be moved to a
varied throttling position resulting in varied flow coefficients.
Thus, in one embodiment, by regulating the distance between the
poppet and the valve inlet for each pulse, the pressure drop across
the valve may be accurately controlled.
[0072] Accordingly, in several embodiments, the disclosed valve may
be designed to allow the valve to be partially opened, in a
precisely and reliably controllable manner during each pulse of
emitted spray. In this manner, the liquid pressure drop across the
valve can be controlled, thus controlling the inlet pressure to a
spray nozzle (or other device) and therefore, the spray droplet
size. This control, when coupled with the existing PWM-based
control of the flow rate of liquid, may allow for complete control,
on a nozzle-by-nozzle basis, of spray application rate and droplet
size for use in agricultural spraying.
[0073] It should be appreciated that, although the disclosed valves
are primarily described herein with reference to agricultural
spraying systems, the valves may generally be utilized in any
apparatus and/or system in which control of the instantaneous
pressure drop across and/or the duration of flow pulses through a
device is desired. For example, the disclosed valves may be
incorporated into a device and/or system configured for triggered
spraying or squirting of oil on passing railroad wheels. As another
example, the disclosed device may be incorporated into a system
configured to spray paint patterns on roadways and/or sports
fields.
[0074] Referring now to FIG. 1, a simplified, cross-sectional view
of one embodiment of an electric solenoid valve 100 is illustrated.
In general, the valve 100 may include an inlet 102 and an outlet
104 for receiving and expelling fluid 106 from the valve 100. The
valve 100 may also include a solenoid coil 108 (outlined by the
dashed lines) located on and/or around a guide 110. For instance,
in one embodiment, the solenoid coil 108 may be wrapped around the
guide 110. Additionally, an actuator or poppet 112 may be movably
disposed within the guide 110. In particular, the poppet 112 may be
configured to be linearly displaced within the guide 110 relative
to the inlet 102 and/or the outlet 104 of the valve 100. Moreover,
as shown, the valve 100 may include a spring 114 coupled between
the guide 110 and the poppet 112 for applying a force against the
poppet 112 in the direction of the valve outlet 104. It should be
appreciated that the valve 100 may also include a valve body or
other outer covering (not shown) disposed around the coil 108.
[0075] As shown in the illustrated embodiment, the valve 100 is
configured as an in-line valve. Thus, the fluid 106 may enter and
exit the valve through the valve inlet 102 and outlet 104,
respectively, along the same axis 115. In other words, the valve
inlet 102 and valve outlet 104 may generally be aligned along the
axis 115. Additionally, as shown in FIG. 1, in one embodiment, the
inlet 102 and outlet 104 may be concentrically aligned with both
one another and the positioning of the poppet 112 within the guide
110. As such, the poppet 112 may be configured to be linearly
displaced within the guide 110 along the axis 115 such that the
fluid 106 may generally be directed through the valve 100 along the
same axis 115 as the movement of the poppet 112.
[0076] In addition, the solenoid coil 108 may be coupled to a
controller 130 configured to regulate or control the current
provided to the coil 108. The controller 130 may generally comprise
any suitable computer and/or other processing unit, including any
suitable combination of computers, processing units and/or the like
that may be communicatively coupled to one another (e.g., the
controller 130 may form all or part of a controller network). Thus,
the controller 130 may include one or more processor(s) and
associated memory device(s) configured to perform a variety of
computer-implemented functions (e.g., performing the methods,
steps, calculations and/or the like disclosed herein). As used
herein, the term "processor" refers not only to integrated circuits
referred to in the art as being included in a computer, but also
refers to a controller, a microcontroller, a microcomputer, a
programmable logic controller (PLC), an application specific
integrated circuit, and other programmable circuits. Additionally,
the memory device(s) of the controller 130 may generally comprise
memory element(s) including, but not limited to, computer readable
medium (e.g., random access memory (RAM)), computer readable
non-volatile medium (e.g., a flash memory), a floppy disk, a
compact disc-read only memory (CD-ROM), a magneto-optical disk
(MOD), a digital versatile disc (DVD) and/or other suitable memory
elements. Such memory device(s) may generally be configured to
store suitable computer-readable instructions that, when
implemented by the processor(s), configure the controller 130 to
perform various functions including, but not limited to,
controlling the current supplied to the solenoid coil 108,
monitoring inlet and/or outlet pressures of the disclosed valve(s),
receiving operator inputs, performing the calculations, algorithms
and/or methods described herein and various other suitable
computer-implemented functions.
[0077] The coil 108 may be configured to receive a controlled
electric current or electric signal from the controller 130 such
that the poppet 112 may be moved within the guide 110 relative to
the inlet 102 and/or the outlet 104. For example, in one
embodiment, the controller 130 may include a square wave generator,
a coil drive circuit as shown in FIG. 5 or any other suitable
device that is configured to apply a regulated current to the coil
108, thereby creating a magnetic field which attracts the poppet
112 in the direction of the valve inlet 102. As a result, the
poppet 112 may be moved to a proper throttling position for
controlling the pressure drop across the valve 100. Additionally,
the attraction between the coil 108 and the poppet 112 may also
allow the poppet 112 to be pulsated or continuously cyclically
repositioned, thereby providing for control of the average flow
rate through the valve 100.
[0078] In several embodiments, a modulated square wave may drive
the solenoid valve 100 to control the pressure and flow rate. The
duty cycle of a high-frequency modulation (e.g., at a frequency
greater than about 200 Hz) may be used to regulate coil current and
partially open the valve 100 by moving the poppet 112 to a
particular throttling position, thereby providing a means for
manipulating the outlet pressure of the fluid 106. Additionally,
the low-frequency pulse duty cycle (e.g., at a frequency of less
than 30 Hz) may be used to meter the average flow rate by
enabling/disabling the temporally-averaged flow rate that results
from the outlet pressure.
[0079] The poppet position may be regulated by the forces acting on
the poppet 112, with a steady throttling position resulting from
equilibrium of the forces. For example, in the illustrated
embodiment, forces from the spring 114, fluid 106 and coil 108 may
act on the poppet 112 simultaneously. Specifically, the forces from
the spring 114 and the fluid 106 tend to bias the poppet 112 in the
direction of the valve outlet 104 while the force from the coil 108
tends to bias the poppet 112 in the direction of the valve inlet
102.
[0080] Thus, when the valve 100 is unpowered (i.e., when a voltage
is not applied across the coil 108), the spring 114 may force the
poppet 112 towards the valve outlet 104 such that the increased
system pressure has a tendency to force the valve 100 into a sealed
or closed position. In such an embodiment, the poppet 112 may
include a rubber disk or any other suitable sealing member 116
configured to press against an outlet seat 118 of the valve outlet
104 to create a leak-free seal on the valve 100 when the valve 100
is in the closed position. Additionally, when the valve 100 is
powered (i.e., when a voltage is applied to the coil 108), the
poppet 112 may be attracted by the coil 108 toward the valve inlet
102 such that the poppet 112 is moved to the throttling position.
Specifically, the current supplied to the coil 108 may be
controlled such that the force acting on the poppet 112 by the coil
108 is sufficient to position the poppet 112 a predetermined
distance 120 from an inlet seat 122 of the valve inlet 102, thereby
allow the pressure across the valve 100 to be throttled.
[0081] It should be appreciated that the particular distance 120
from the inlet seat 122 (also referred to herein as the "poppet
displacement") at which the poppet 112 is positioned may generally
vary depending on the desired outlet pressure for the valve 100.
However, given the configuration of the disclosed valve 100, the
distance 120 may always be less than the total stroke of the poppet
112 (defined as the summation of the distance 120 and a distance
132 between the poppet 112 and the outlet seat 116). In several
embodiments, the distance 120 may be less than 60% of the total
stroke of the poppet 112, such as less than 50% of the total stroke
of the poppet 112 or less than 40% of the total stroke of the
poppet 112.
[0082] In several embodiments, when the valve 100 is being pulsed,
the movement of the poppet 112 may be cycled between the throttling
position and a sealed position, wherein the poppet 112 is sealed
against the valve inlet 102. Thus, as shown in FIG. 1, the poppet
112 may also include a rubber disk or other suitable sealing member
134 that is configured to be pressed against the inlet seat 122 of
the valve inlet 102 so as to create a leak-free seal when the valve
100 is in the sealed position. In such an embodiment, in order to
transition the valve 100 from the closed position (wherein the
poppet 110 is sealed against the valve outlet 104) to the sealed
position (wherein the poppet 110 is sealed against the valve inlet
102), the solenoid may be initially turned on with a 100% high
frequency duty cycle so as to move the poppet 110 from the valve
outlet 104 to the valve inlet 102 as quickly as possible.
Subsequently, the current supplied to the coil 108 may be
controlled such that the poppet 100 may be cyclically pulsed
between the sealed position and the throttling position. However,
in alternative embodiments, the valve 100 may be configured to be
pulsed between the closed position (wherein the poppet 110 is
sealed against the valve outlet 104) and the throttling
position.
[0083] It should be appreciated that the sizes of the valve inlet
102 and valve outlet 104 (e.g., diameter 124 and diameter 126,
respectively), as well as the geometry and/or configuration of the
poppet 112 and the valve guide 110, may be chosen such that the
force acting on the poppet 112 from the coil 108 may overcome the
fluid forces and spring forces for every throttling position within
the total stroke of the valve 100 when the coil is fully powered.
Similarly, in one embodiment, the spring 114 may be sized such that
the spring force corresponds to the minimal amount of force
required to maintain a drip-free valve 100 when the valve 100 is
unpowered.
[0084] In several embodiments, the poppet 112 and/or the valve
guide 110 may include a tapered portion at and/or adjacent to the
valve inlet 102. Specifically, as shown in FIG. 1, both the poppet
112 and the valve guide 110 include a tapered portion defining a
taper angle 136 at and/or adjacent to the valve inlet 102. In
several embodiments, the taper angle(s) 136 may range from about 25
degrees to about 45 degrees, such as from about 25 degrees to about
40 degrees or from about 27 to about 35 degrees and all other
subranges therebetween. However it is foreseeable that, in
alternative embodiments, the taper angle(s) 136 may be less than
about 25 degrees or greater than about 45 degrees.
[0085] As indicated above, the solenoid coil 108 may be driven with
a complex pulsed voltage waveform. A "pulse" may correspond to a
duration (e.g., a 100 millisecond cycle) in which a low frequency
duty cycle value sets the amount of on/off time. The "on" time may
correspond to a "coil discharging (or charging) period" in which
the drive voltage is turned off (on) continuously and a "modulated
period" in which the voltage is turned on and off at a high
frequency (e.g., at a frequency of greater than 200 Hz). The
duration of the coil discharging (charging) period may be
determined by the amount of time for the coil current to reach the
desired value. The coil current may be continuously measured and
compared to a threshold in order to trigger switching of the drive
voltage to a modulated signal.
[0086] Referring now to FIG. 2, a simplified, cross-sectional view
of another embodiment of an electric solenoid valve 200 is
illustrated. In general, the valve 200 may be configured similarly
to the valve 100 described above with reference to FIG. 1 and,
thus, may include many or all of the same components. For example,
the valve 200 may include an inlet 202 and an outlet 204 for
receiving and expelling a fluid 206 from the valve 200.
Additionally, the valve 200 may include a solenoid coil 208
(outlined by the dashed lines) located on and/or around a guide 210
and a poppet 212 movably disposed within the guide 210. The
solenoid coil 208 may be configured to receive a controlled
electric current or electric signal from a controller 230 such that
the poppet 212 may be moved within the guide 210 relative to the
inlet 202 and/or the outlet 204. Moreover, the valve 200 may
include a spring 214 coupled between the guide 210 and the poppet
212 for applying a force against the poppet 212 in the direction of
the valve outlet 204. It should be appreciated that the valve 200
may also include a valve body or other outer covering (not shown)
disposed around the coil 208.
[0087] However, in contrast to the in-line valve 100 described
above, the illustrated valve 200 is configured as a counter flow
valve. Thus, the fluid 206 may be configured to enter and exit the
valve 200 along differing axes. For example, as shown, the valve
outlet 204 may generally be aligned with the axis of movement of
the poppet 212 and the valve inlet 202 may be offset from such
axis, such as by being disposed above the valve outlet 204.
[0088] Additionally, in one embodiment, the poppet 212 may be
configured to include a projection 228 (e.g., a section of the
poppet 212 being reduced in size) extending outwardly in the
direction of the valve outlet 204. For example, as shown in FIG. 2,
the projection 228 may extend outwardly from the portion of the
poppet 212 configured to be sealed against the outlet seat 218 of
the valve outlet 204 (e.g., a rubber disk or any other suitable
sealing member 216). In such an embodiment, it should be
appreciated that the projection 228 may be sized so that it may be
received within a portion of the valve outlet 204 when the poppet
212 is moved towards the outlet seat 218. For instance, the
projection 228 may have a diameter 231 that is smaller than the
diameter 226 of the valve outlet 204.
[0089] Thus, in several embodiments of the present subject matter,
the projection 228 may be configured to be received within a
portion of the valve outlet 204 such that a partial opening of the
valve 200 generates a constant flow coefficient. For example, a
partial opening of the valve 200 may correspond to when the poppet
212 is moved to a position within the guide 210 such that at least
a portion of the projection 228 is received within the valve outlet
204 and the difference of cross-sectional area between the outlet
204 and the projections 228 creates a fixed value.
[0090] Additionally, the length of the projection 228 may be
configured such that, when the valve 200 is fully opened, a
constant flow coefficient is achieved that is of a greater value
than the constant flow coefficient achieved with the partial
opening. For instance, the position of the poppet 212 shown in FIG.
2 may correspond to a fully opened position, wherein no portion of
the projection 228 is disposed within the valve outlet 204. The
resulting valve configuration generally has three controlled
states: a closed state (e.g., a sealed position), partially open
state with a low flow coefficient (e.g., the throttling position),
and fully open state with a high flow coefficient.
[0091] It should be appreciated that, similar to the valve 100
described above, the partially open state may be achieved by
controlling the forces acting on the poppet 212. For example, a
regulated amount of voltage may be applied to the coil 208
(generating a regulated amount of coil current through the coil
208) such that the forces acting on the poppet 212 by the coil 208,
spring 214 and fluid 206 are in an equilibrium state when the
poppet 212 is located at the desired throttling position. In such
an embodiment, the resulting distance 232 between the sealing
member 216 and the outlet seat 218 and/or the volume of the outlet
occupied by the projection 228 may be chosen so as to throttle the
pressure across the valve 200.
[0092] In alternative embodiments, the illustrated valve 200 may
not include the projection 228 shown in FIG. 1. For instance, the
valve 200 may be configured similarly to the valve shown in FIG.
11. Thus, instead of controlling the position of the poppet 212
such that the projection 228 is received within the valve outlet
204, the partially open state may be achieved by simply controlling
the distance 232 defined between the sealing member 216 and the
outlet seat 218 in order to locate the poppet 212 at the desired
throttling position.
[0093] It should be appreciated that, generally, the disclosed
solenoid valves 100, 200 may be utilized to control the
instantaneous pressure drop across and the cyclic duration of flow
through any suitable device. However, in several embodiments of the
present subject matter, the solenoid valves 100, 200 may be used to
control the instantaneous pressure drop across and the cyclic
duration of flow through an agricultural spray nozzle. In such
embodiments, the disclosed solenoid valves 100, 200 may configured
as part of a nozzle assembly for use with various agricultural
spraying systems.
[0094] For example, FIGS. 3 and 4 illustrate embodiments of a
spraying system 300 and a nozzle assembly 302 in which the
disclosed solenoid valves 100, 200 may be advantageously used. As
shown in FIG. 3, the spraying system 300 may include a tractor 304
having a cab 306, a plurality of wheels 308, at least one boom
wheel 308B for engaging a section of ground with a crop, produce,
product or the like (generally, 310), a tank or reservoir 312, and
a spray boom 314 with a plurality of nozzle assemblies 302
installed thereon. The tank 312 may hold a liquid, a mixture of
liquid and powder and/or any other suitable product designated in
general by 316. For example, the liquid can be a quantity of water
or an agrochemical such as a fertilizer or a pesticide. Likewise,
the liquid-powder mixture can be the agrochemical. Thus, the
product 316 may be sprayed from the nozzle assemblies 302 onto a
crop or product or the ground 310 itself.
[0095] As shown in FIG. 4, each nozzle assembly 302 may generally
include a spray nozzle 324 and a solenoid valve 320. In several
embodiments, the spray nozzle 324 may include a nozzle body 322
configured to receive the product 316 flowing through the spray
boom 314 and a nozzle head 326 mounted to and/or formed integrally
with the nozzle body 322 for expelling the product 316 from the
nozzle assembly 302 onto crops, product and/or the ground 310. It
should be appreciated that the spray nozzle 324 may generally
comprise any suitable spray nozzle known in the art.
[0096] The solenoid valve 320 may generally be configured the same
as or similar to the valves 100, 200 described above with reference
to FIGS. 1 and 2. In addition, the solenoid valve 320 may be
configured to be mounted to and/or integrated within a portion of
the spray nozzle 324. It should be appreciated that solenoid valve
320 may be mounted to and/or integrated within a portion of the
spray nozzle 324 using any suitable mounting configuration and/or
any other suitable configuration known in the art that permits the
flow of product 316 through a spray nozzle 324 to be modified using
PWM technology. For example, the solenoid valve 320 may be mounted
to the exterior of the nozzle body 322, such as by being secured to
the nozzle body 322 through the nozzle's check valve port.
Alternatively, the solenoid valve 320 may be integrated within a
portion of the nozzle body 322.
[0097] As another example, FIG. 6 illustrates a simplified view of
a further embodiment of an agricultural spraying system 10 in which
the disclosed solenoid valve(s) 100, 200 may be advantageously
used. In general, the system 10 may be designed to be coupled to a
piece of farming equipment (not shown), such as the tractor 304
shown in FIG. 3. The system 10 may include a seed tube 12 for
dropping seeds 14 on the ground 16 as the system 10 moves at a
speed V relative to the ground 16. The seeds 14 may be supplied to
the seed tube 12 from a suitable seed source 18 (e.g., a seed
hopper). A seed sensor 20 may be operatively connected to the seed
tube 12 for detecting each seed 14 as it drops through the seed
tube 12. Additionally, the seed sensor 20 may be communicatively
coupled to a controller 22 (e.g., the controller 130, 230 described
above). As such, each time the seed sensor 20 detects a seed 14
dropping through the seed tube 12, a signal may be transmitted from
the seed sensor 20 to the controller 22.
[0098] Additionally, the system 10 may also include a nozzle
assembly 24 for spraying each seed 14 with a metered amount of
fluid F. Similar to the nozzle assembly 302 described above, the
nozzle assembly 24 may include a spray nozzle 26 and a solenoid
valve 28. The spray nozzle 26 may generally comprise any suitable
spray nozzle known in the art. In addition, the solenoid valve 28
may generally be configured the same as or similar to the valves
100, 200 described above with reference to FIGS. 1 and 2 and may be
mounted to and/or integrated within a portion of the spray nozzle
26 using any suitable mounting configuration and/or any other
suitable configuration known in the art that permits the flow of
fluid F through a spray nozzle 26 to be modified using PWM
technology.
[0099] As shown in FIG. 6, fluid F may be supplied to the nozzle
assembly 24 from a suitable fluid source 30 (e.g., a fluid tank).
In addition, the valve 28 of the nozzle assembly 24 may be
communicatively coupled to the controller 22. Accordingly, when the
nozzle assembly 24 becomes aligned with the location of one of the
seeds 14, the controller 22 may transmit a suitable signal to the
valve 28 to cause it to open to a specific throttled position,
remain open for a calculated duration, and close, thereby spraying
a metered amount of fluid F on or adjacent to the seed 14. The
throttling of the valve 28 may control the application rate, while
the duration of the pulse may control the timing of the spray.
Specifically, the duration of the pulse may correspond to the
length of the deposited spray along the direction of travel of the
system 10 and the synchronization of the pulse and the seed drop
may determine the relationship of the location of the deposited
spray to the location of the seed.
[0100] It should be appreciated that the controller 22 may be
configured to determine when to open and close the valve 28 based
on various inputs received by the controller 22. For example, based
on inputs received from the seed sensor 20, inputs related to the
speed V of the system 10, inputs from the pressure of the fluid,
and inputs of the desired application rate and application
geometry, the time delay necessary between the time the seed sensor
20 detects a seed 14 and the time that the valve 28 should be
opened to spray fluid F on or adjacent to the seed 14 may be
determined.
[0101] It should be appreciated that, although the system 10 is
described above with reference to spraying seeds, the system 10 may
generally be utilized to spray any suitable type of plant
precursors, such as seeds, seedlings, transplants, encapsulated
tissue cultures and/or any other suitable plant precursors.
[0102] It should also be appreciated that the disclosed valves 100,
200 (and the disclosed nozzles assemblies 24, 302) may similarly be
used in plant canopy sensing and spray applications. For instance,
instead of receiving signals from a seed sensor 20, the controller
22 may be configured to receive signals from a canopy sensor (not
shown) designed to detect the presence of a plant. The controller
22 may then control the valve 28 based on such signals in order to
spray a metered amount of fluid on or between plants.
[0103] Referring now to FIG. 5, one embodiment of an electric
solenoid drive circuit 500 that may be utilized to drive the
disclosed solenoid valves 100, 200 and/or that may form all or part
of the disclosed controllers 130, 230 is illustrated in accordance
with aspects of the present subject matter. In general, the circuit
500 may be configured to generate a waveform for a solenoid valve
and may also be configured to measure the solenoid coil current. In
one embodiment, the circuit 500 may include a field-effect
transistor 502 with an input waveform 504 to connect/disconnect a
supply voltage 532 to a solenoid coil 508. In addition, the circuit
500 may include current sense resistor 520 configured to generate a
sense voltage 530 directly indicating the current through the
resistor 520. A current feedback switch 510 may enable a feedback
diode 512 to allow current in solenoid coil 508 to remain nearly
constant during a high frequency modulation of waveform 504. The
feedback switch 510 may disable the feedback diode 512 at the
beginning or end of a low-frequency pulse to force a more rapid
coil current change. It should be appreciated that solenoid coils
108, 208 in valves 100, 200 may be utilized as the solenoid coil
508 in circuit 500.
[0104] Alternatively, any other suitable drive circuit that is
capable of controlling the current through a solenoid valve may be
utilized to drive the disclosed valves 100, 200. For example, in
several embodiments, it may be desirable to utilize a field-effect
transistor (FET) with suitable gating control as the current
feedback switch 510 described above. By utilizing a FET as a
current feedback switch, the drive circuit 500 may be capable of
changing coil current more quickly, thereby providing increased
valve response. In particular, the FET may be utilized to enable
and disable the feedback diode 512, such as by enabling the
feedback diode 512 during high-frequency modulation and disabling
the feedback diode 512 during low frequency valve transitions. The
enabled feedback diode 512 may allow for current throttling through
the use of a high-frequency PWM duty cycle while the disabled
feedback diode 512 may allow for accelerated dynamic response of
the valve, thereby providing the ability to both modulate the coil
voltage for coil current control and force rapid current
deceleration during low-frequency valve transitions.
[0105] It should be appreciated that the present subject matter is
also directed to various algorithms or methods for operating and/or
actuating an electric solenoid valve (e.g., the solenoid valves
100, 200 described above). In general, the methods may allow for
the simultaneous control of instantaneous pressure drop across and
a controlled duration of flow through any suitable device, such as
the nozzle assemblies 302, 24 described above.
[0106] Referring to FIG. 7, in several embodiments, the present
subject matter discloses a method 700 for controlling the operation
of a valve. As shown, the method may generally include receiving an
input associated with a desired outlet pressure of a fluid supplied
through the valve 702, receiving an input associated with an inlet
pressure of the fluid supplied to the valve 704, determining, with
a controller, a desired poppet displacement for the valve based on
the inlet pressure and the desired outlet pressure 706 and
controlling current supplied to the valve such that a poppet of the
valve is pulsed between a sealed position and a throttling
position.
[0107] In general, the illustrated method 700 may be used to
determine both the poppet displacement (e.g., distance 120, 232)
and coil current needed to achieve a steady state outlet pressure
for a solenoid valve (e.g., the valves 100, 200). In particular, by
analyzing various system parameters, a controller (e.g., the
controller 130, 230) may be utilized to determine the distance a
valve poppet is to be positioned from the valve inlet and/or outlet
in order to achieve a desired outlet pressure for the valve (e.g.,
by using an iterative process). This poppet displacement value may
be used to calculate the coil current required to the throttle the
outlet pressure to the desired value. The coil current may then
allow the controller to set the coil discharging (or charging)
period and high-frequency modulation duty cycle for the valve.
[0108] It should be appreciated that, in addition (or as an
alternative) to receiving the desired outlet pressure as an input,
the desired spray droplet size spectrum may be received as an
input. As is generally understood by those of ordinary skill in the
art, the desired spray droplet size spectrum may be correlated to
the desired outlet pressure based on the particular type of spray
nozzle being used (e.g., the orifice size and design of the spray
nozzle). Thus, in one embodiment, the disclosed system may be
configured to receive the desired spray droplet size spectrum as an
input and, based on such input, analyze the outlet pressure-droplet
size relationship to calculate the desired valve outlet pressure
(i.e., the desired spray nozzle inlet pressure). Accordingly, it
should be appreciated that, when the disclosed system and/or
methods are described herein as using, determining and/or producing
a desired outlet pressure, the system and/or methods may also be
using, determining and/or producing a desired spray droplet size
spectrum.
[0109] Referring now to FIG. 8, a flow diagram of one embodiment of
a series of steps that may be implemented by the controller (e.g.,
controller 130, 230) of a spraying system (e.g., system 300, 10)
when executing the disclosed method 700 is illustrated in
accordance with aspects of the present subject matter. As shown, in
802, inputs associated with system parameters may be received by
the controller. For instance, in one embodiment, the particular
size or flow coefficient of the spray nozzle (e.g., spray nozzle
324, 26) being used may be input into the controller. In addition,
the desired outlet pressure for the valve (or the desired spray
droplet size spectrum from the spray nozzle) may also be input into
the controller. Moreover, various other system parameters may also
be input into the controller, such as a desired flow rate, flow
duration, coil resistance, other coil parameters and/or the like.
It should be appreciated that, in one embodiment, such inputs may
correspond to operator inputs provided by the operator of the
spraying system.
[0110] In 804, the controller may be configured to calculate
orifice pressure drop ratios for a plurality of varied poppet
displacements of the valve. Specifically, in several embodiments,
the controller may be configured to model multiple orifices in
series and use known orifice equations to calculate orifice
pressure drop ratios (i.e., the ratio of pressure drop across the
valve and the valve inlet pressure) for various modeled poppet
displacements based on the size or flow coefficient of the spray
nozzle received as an input in 802. For instance, as will be
described below with reference to FIG. 16, such lookup values may
be determined by modeling a nozzle assembly (i.e., a valve and
spray nozzle combination) as three orifices in series (e.g., an
inlet orifice (#1), an outlet orifice (#2) and a spray nozzle
orifice (#3)).
[0111] Additionally, in 806, the high-frequency PWM for the valve
may be set to a predetermined percentage at the beginning of a
valve pulse. Specifically, in several embodiments, the controller
may be configured to set the high-frequency PWM to 0% (or 100% for
coil charging) at the beginning of the valve pulse. For instance,
in the embodiment shown in FIG. 1, the controller may be configured
to set the high-frequency PWM to 0% to permit the poppet to move
from the sealed position (wherein the poppet is sealed against the
valve inlet) toward the throttling position. Additionally, in one
embodiment, the controller may also be configured to open a current
feedback switch or FET of the drive circuit controlling the valve
(e.g., current feedback switch 510 of drive circuit 500) at the
beginning of the valve pulse.
[0112] Referring still to FIG. 8, in 808, the controller may be
configured to measure the voltage being supplied to the drive
circuit (e.g., drive circuit 500) or the valve. The measured
voltage may then be utilized to calculate the maximum coil current
for the solenoid coil. For instance, in one embodiment, the
measured voltage may be divided by the coil resistance to determine
the maximum coil current.
[0113] Additionally, in 810, the controller may be configured to
measure the inlet pressure of the fluid supplied to the valve. For
example, in several embodiments, one or more pressure transducers
or other suitable pressure sensors may be disposed at the valve
inlet or at a location upstream of the valve inlet. In such
embodiments, the controller may be communicatively coupled to the
pressure transducer(s)/sensor(s) and, thus, may be configured to
receive signals associated with the inlet pressure of the valve.
The inlet pressure may then be utilized to determine the resulting
outlet pressures for the varied modeled poppet displacements. For
instance, in one embodiment, the measured inlet pressure may be
multiplied by the orifice pressure drop ratios calculated in 804 in
order to determine the resulting outlet pressures for the varied
poppet displacements. The outlet pressures determined in 810 may
then, in 812, be compared to the desired outlet pressure in order
to determine the desired poppet displacement. In particular, by
selecting the outlet pressure closest to the desired outlet
pressure and/or be interpolating between outlet pressures, the
desired poppet displacement may be determined.
[0114] Moreover, in 814, the desired poppet displacement from 812
may be utilized to calculate the forces acting on the poppet when
the poppet is moved to the throttling position. For instance, the
desired poppet displacement, together with the measured inlet
pressure, may be utilized by the controller to calculate the fluid
force acting on the poppet at the throttling position. In addition,
the controller may also utilize the desired poppet displacement to
calculate the spring force acting on the poppet. The coil force
required to maintain the poppet at the throttling position may then
be calculated by the controller by simply equating the sum of all
the poppet forces to zero (i.e. at the equilibrium state).
[0115] Referring still to FIG. 8, in 816, the desired coil current
may be calculated based on the coil force acting on the poppet at
the throttling position. Specifically, by knowing various
properties of the solenoid coil (e.g., coil resistance, number of
turns, etc.), the coil current needed to achieve the specific coil
force may be determined. Thereafter, in 818, the coil current may
be continuously measured and compared to the desired coil current.
In several embodiments, once the measured coil current is equal to
the desired coil current, the high-frequency PWM for the valve may
be set to a throttling percentage (e.g., the percentage of the
desired coil current over the maximum current). As such, the valve
poppet may be moved to the desired throttling position resulting
from the equilibrium of forces acting on the poppet. Additionally,
once the measured coil current is equal to the desired coil
current, the controller may also be configured to close the current
feedback switch or FET of the drive circuit controlling the
valve.
[0116] In addition to the steps described above (e.g., steps
802-818), the controller may also be configured to execute various
other steps. Specifically, in one embodiment, the controller may be
configured to receive signals associated with the outlet pressure
of the valve in order to implement closed loop control of the
outlet pressure. For instance, the controller may be
communicatively coupled to one or more pressure transducers and/or
other suitable pressures sensors positioned at the valve outlet
and/or at a location downstream of the valve outlet. In such an
embodiment, gains may be multiplied by the desired coil current or
the high-frequency PWM duty cycle such that the controller may
adjust the outlet pressure of the valve. Additionally, in another
embodiment, the controller may be configured to use flow rate
measurements to implement closed-loop control of the
temporally-averaged spray nozzle flow. For instance, an application
rate controller may provide a gain which is multiplied by the
desired coil current or the high-frequency PWM duty cycle so that
the controller may be configured to appropriately adjust the outlet
pressure of the valve.
[0117] Moreover, the present subject matter is also directed to a
method for determining the duration of coil activation needed to
achieve a desired quantity of fluid flow. It should be appreciated
that, if an application rate per unit area is desired, the desired
quantity of flow per pulse may be calculated as a mass or volume to
be applied within a set period. Regardless, nozzle velocity, nozzle
swath width, desired application rate, and period length may be
used to calculate the desired quantity of flow.
[0118] For example, one embodiment of a series of steps that may be
utilized by the controller of a spraying system to implement such a
method is illustrated in FIG. 9. As shown, in 902, inputs
associated with system parameters may be received by the
controller. For instance, in one embodiment, the particular size or
flow coefficient of the spray nozzle (e.g., spray nozzle 324, 26),
the desired outlet pressure for the valve, the desired application
rate (per area) and/or various other suitable system parameters may
be input into the controller. In 904, the controller may calculate
a temporally-averaged flow rate for the spray nozzle based on its
flow coefficient and the desired outlet pressure of the valve.
Additionally, in 906, a desired quantity of fluid flow per pulse
may be determined by multiplying the desired application rate by
the nozzle velocity, nozzle swath width, and pulse period length.
Thereafter, in 908, the desired quantity of fluid flow per pulse
may be divided by the predicted temporally-averaged flow rate to
determine the desired pulse duration.
[0119] It should be appreciated that the method described with
reference to FIG. 9 may also be utilized with the methods described
above with references to FIGS. 7 and 8 in order to achieve a
desired quantity of flow and also maintain a desired outlet
pressure for the valve. For instance, once the desired pulse
duration is determined (e.g., by implementing steps 902-908), the
controller may be configured to move the poppet in accordance with
the desired poppet displacement determined in step 812 and
thereafter maintain the poppet at the desired throttling position
for the desired pulse duration. It should also be appreciated that,
in addition to the steps described above with reference to FIG. 9,
the controller may also be configured to execute various other
steps. Specifically, in one embodiment, the controller may be
configured to use flow rate measurements to implement closed-loop
control of the average spray nozzle flow. For instance, an
application rate controller may provide a gain which is multiplied
by the valve pulse duration so that the controller may be
configured to appropriately adjust the average rate of flow through
the valve.
[0120] Additionally, the present subject matter is also directed to
a method for determining the duration of coil activation needed to
achieve a desired geometry and quantity of fluid flow. It should be
appreciated that, if an application rate per trigger is desired,
the desired quantity of flow will remain a constant value, settable
by the operator. Additionally, a constant geometry of application
may be desired, also settable by the operator. One embodiment of a
series of steps that may be utilized by the controller of a
spraying system to implement such a method is illustrated in FIG.
10. As shown, in 1002, inputs associated with system parameters may
be received by the controller. For instance, in one embodiment, the
particular size or flow coefficient of the spray nozzle (e.g.,
spray nozzle 324, 26), the desired application rate per trigger
(i.e., quantity of fluid per pulse), the desired length (e.g.,
displacement) of the fluid application and/or various other
suitable system parameters may be input into the controller. In
1004, the desired length of the fluid application controller may be
multiplied by the nozzle velocity to calculate a desired pulse
duration. Additionally, in 1006, the desired application rate per
pulse may be divided by the desired pulse duration in order to
determine the desired temporally-averaged flow rate. In 1008, the
controller may be configured to utilize the desired
temporally-averaged flow rate and the spray nozzle coefficient of
the spray nozzle to calculate a desired outlet pressure for the
valve. The desired outlet pressure may then be utilized with the
methods described above with references to FIGS. 7 and 8 in order
to implement a fluid pulse with the desired pulse duration.
[0121] It should be appreciated that the method described above
with reference to FIG. 10 may, in one embodiment, be advantageously
used with the plant precursor squirting system 10 of FIG. 6.
[0122] By utilizing the above described methods, a solenoid valve
may be throttled so as to control the pressure drop across the
valve. Successful throttling of the valve may then allow for
application rate and droplet size control for various applications
including, but not limited to, individual nozzle control for flow
rate and droplet size of pesticide spray, individual nozzle control
of liquid fertilizer application rate, individual knife control of
anhydrous ammonia application rate, spraying on or between seeds,
seedlings and/or other plant precursors during planting
applications, and triggered spraying on or between plants in
row-crop chemical applications.
[0123] It should be appreciated that the above described
methods/steps are simply provided as several examples of suitable
methods/steps that may be implemented when throttling a solenoid
valve to allow control of the instantaneous pressure drop across
and the cyclic duration of flow through the valve. Thus, it should
be readily apparent to those of ordinary skill in the art that the
methods/steps may be modified to accommodate valves having various
different configurations (e.g., in-line valves, counter flow
valves, and the like) and to allow such methods/steps to be used
across a wide range of spraying and related applications.
[0124] It should also be appreciated that the present subject
matter is also directed to various methods related to system/valve
diagnostics that may provide a means for verifying proper
system/valve operation and/or for detecting malfunctioning
components of the system. For instance, one of the challenges of an
in-line valve design (e.g., the valve 100 shown in FIG. 1) is that
proportional control of the valve may become unstable as the poppet
position approaches the valve outlet. Thus, if the valve poppet
mistakenly moves over-center to the closed position, the coil must
be fully powered in order to pull the poppet off of the outlet
seat. In this regard, U.S. Pat. No. 7,311,004 to Giles, which is
hereby incorporated by reference herein in its entirety for all
purposes, discloses a method of sensing a characteristic current
bump for valve diagnostics in order to detect a malfunctioning
valve, including one with a stuck or missing plunger. As the valve
poppet moves, a bump may be detected in the current ramp resulting
from changing magnetic flux in the valve. The sensing of these
magnetic flux changes (current bumps) during the valve OFF/ON or
ON/OFF transitions may be advantageously used with disclosed
in-line valve 100 in order to allow the drive circuit to identify
the occurrence of an over-center poppet.
[0125] Additionally, as the valve poppet for the disclosed valves
is moved from a closed or sealed position to an open position, the
present inventors have found that the inductance of the solenoid
coil changes. If a dithering frequency (e.g., less than 800 Hz) is
supplied to the solenoid coil for throttling the valve, a current
ripple may be produced. The magnitude of the ripple may be directly
related to the inductance of the solenoid coil. As a result,
magnitude measurements of a dithering coil current may be used to
approximate the poppet position within the valve. Accordingly,
these measurements may be used to determine if and when an in-line
valve poppet has gone over-center to the outlet port side of the
valve. Additionally, such measurements may also allow for the
detection of a missing poppet and/or a clogged valve.
[0126] Moreover, as described above, pressure measurements at or
downstream of the valve outlet may, in several embodiments, be used
for closed-loop control of the outlet pressure of the valve. In
addition, these outlet pressure measurements may also allow for
system/valve diagnostics. In particular, outlet pressure
measurements taken while the poppet is at the throttling position
may allow for the calculation of instantaneous fluid flow by
multiplying the square-root of the outlet pressure by the spray
nozzle flow coefficient. As such, deviations from the desired fluid
flow values may be used to identify malfunctioning components,
including clogged valves and/or clogged spray nozzles. Further, the
speed of on/off pressure transitions may indicate conditions of
partially clogged valves or spray nozzles.
Experimental Analysis/Results
[0127] The description that follows provides a summary of research
conducted by the present inventors regarding the subject matter
disclosed above. It should be appreciated that the analysis and
results provided below are merely illustrative and should not be
construed as any type of limitation on the scope of the disclosed
subject matter.
Development of a Mathematical Model and a Prototype Valve
[0128] Proportionally acting solenoid valves were physically
modeled and investigated using a test stand including a laser
displacement sensor for measuring valve poppet position and motion,
electrical transducers for solenoid voltage and current measurement
and a series of pressure transducers for measuring inlet and outlet
fluid pressure. In addition, the temporal relationship between the
electrical state of the valve and the poppet motion was also
measured. All the test parameters (e.g., poppet position and
motion, electrical and fluid pressure conditions) were recorded
simultaneously during actuation using programmable input signals.
Steady state and transient models of the valve were developed and
prototype components and designs indicated that variable pressure
drop across the valve for each approximately 100 ms cycle was
feasible.
[0129] The test fixture allowed the collection of the performance
data on solenoid valves during operation at conditions
approximating those expected field conditions of a product based on
the design. For example, the following sequence of test data
provides insight into a commercially available valve having a
configuration similar to the counter-flow valve shown in FIG. 11.
The valve was pulsed with a 12-volt signal at 10 Hz with a 50% duty
cycle. The pulsing mechanism was a commercially available control
module powered by a 12-volt supply. The module included a 1-ohm
series resistor that was used to measure solenoid current.
[0130] By pulsing the valve with non-flowing air and again with
non-flowing water, a difference in poppet response time due to the
medium could be observed. Voltage pulses, current ramps, and poppet
displacement measurements were logged with a PC oscilloscope and
software. Data for a 75 ms pulse event is shown in FIG. 12. As
shown in FIG. 12, coil sink voltage and poppet displacement are
referenced to the left axis and coil current is referenced to the
right axis. These results established the accuracy and utility of
the experimental apparatus design and operation.
[0131] FIG. 13 shows data for a 75 ms pulse event highlighting
poppet response to the opening signal. Specifically, FIG. 13 shows
the laser sensor output after voltage calibrations were applied and
data were time-shifted to account for a laser sensor output delay
of 2 milliseconds. As shown, the data indicated that the poppet, in
air, reached the fully open stop in 6.55 milliseconds. In water,
the poppet reached the stop in 8.46 milliseconds. Thus, the fluid
damping resulted in a response slowed by 1.91 milliseconds.
[0132] Using available commercial software packages, computer
models of the valves were also created to permit computational
fluid dynamics (CFD) analyses and other mathematical analyses to be
performed. The computer model allowed stress, displacement, mass,
center of gravity and physical parameters to be easily calculated
from the physical dimensions of the valve assembly. For instance,
the internal porting of the valve and the position of the poppet
could be altered and the resulting flow characteristics determined.
Additionally, a typical flow trajectory of fluid passing through
the valve could be calculated through a CFD analysis, allowing
fluid velocity, pressure and turbulence to be determined for any
flow condition. This allowed the pressure drop across the valves to
be determined for any displacement of poppet from the valve seat.
Moreover, the results from the model allowed flow coefficients and
other performance data to be developed and facilitated
investigation of the resulting changes in performance for changes
in valve geometry.
[0133] The dynamic simulation of the mathematical model was used to
combine fluid, spring, and solenoid coil forces to predict
responses of throttling actuator position and outlet pressure. A
non-linear model was adopted that utilized three first-order
differential equations similar to a linear state-space model.
x . 1 = a 11 x 1 + a 12 x 2 + a 13 x 3 + b 11 u 1 + b 12 u 2
##EQU00001## x . 2 = a 21 x 1 + a 22 x 2 + a 23 x 3 + b 21 u 1 + b
22 u 2 ##EQU00001.2## x . 3 = a 31 x 1 + a 32 x 2 + a 33 x 3 + b 31
u 1 + b 32 u 2 ##EQU00001.3## where : ##EQU00001.4## x . = x t
##EQU00001.5## A = [ a 11 a 12 a 13 a 21 a 22 a 23 a 31 a 32 a 33 ]
##EQU00001.6## B = [ b 11 b 12 b 21 b 22 b 31 b 32 ] ##EQU00001.7##
X = [ x 1 x 2 x 3 ] ##EQU00001.8## U = [ u 1 u 2 ]
##EQU00001.9##
[0134] State variables were assigned:
[0135] x.sub.1=coil current
[0136] x.sub.2=poppet displacement
[0137] x.sub.3=poppet velocity
[0138] Inputs were assigned: [0139] u.sub.1=coil voltage [0140]
u.sub.2=valve inlet pressure
[0141] An iterative process allowed simulation of the system and
allowed calculation of non-linear parameters within each
iteration.
[0142] To verify the accuracy of the mathematical models, the first
attempt compared the dynamic response of a commercially available
two-way, direct-acting solenoid valve having a configuration
similar to the counter flow valve shown in FIG. 11. Tests were
conducted on this first valve in order to verify that the flow
coefficients (gpm/(psi 0.5)) were the same as the simulation.
Further tests were done isolating forces on the poppet from the
spring, the fluid, and the solenoid coil. The isolated force
measurements enabled completion and verification of the
mathematical model.
[0143] The tests on the first valve led to a better understanding
of the forces on the poppet and the poppet's relationship to the
outlet pressure. With a narrowed consideration of the type of valve
and the metering mechanism required, it was decided to incorporate
characteristics of a different solenoid valve that had been
designed for proportional pressure control in pneumatic
systems.
[0144] The proportional pneumatic solenoid valve utilized a
flat-faced poppet that throttled the inlet orifice similar to the
"backwards ported" design of the first test valve. The poppet and
poppet barrel shape differed in a way that eliminated the
sensitivity of coil force to poppet displacement. Instead, the
force function was made fairly linear to coil current only.
Modifications were also made to the valve design to increase the
coil force, reduce the fluid force, increase the poppet's range of
travel, and size a spring in order to create a drip-free preload
yet allowing coil force to fully open the valve.
[0145] A 13-watt coil was selected as an actuator driver. The
design was such that force on the poppet from the coil acted in the
same direction as the fluid force. Force on the poppet from an
internal spring opposed the coil and fluid forces.
[0146] Solid modeling of the newly designed valve was performed.
Response was simulated with a constant inlet pressure of 90 psi and
a coil voltage square wave with 50% duty cycle and controlled
magnitude. FIG. 14 displays the simulated outlet pressure response
to a 10.8-volt square wave. As the graph in FIG. 14 shows, the
pressure response was delayed from the initial square-wave pulse
and was slow to reach its steady state value of 40 psi. This slow
response demonstrated the need for a more complex drive signal than
a simple square wave.
[0147] Moreover, the non-linear model described above was also
utilized to predict the behavior of an in-line valve similar to the
valve 100 shown in FIG. 1, wherein the fluid inlet and outlet ports
were aligned on opposite ends of the moving poppet axis. The
in-line valve utilized a poppet diameter of 9.70 mm. The poppet gap
taper (or taper angle 136) was set to 27 degrees to maximize
magnetic field force when the gap distance was 0.00178 m (farthest
distance of poppet stroke). The coil used 1000 turns of 28 AWG
wire. Mass of the poppet was estimated at 0.00919 kg.
[0148] System parameters for the A and B matrices of the model were
determined using simulations. Non-linear matrix parameters were
calculated between 50-.mu.s step iterations. Non-linearity of the
system included boundary conditions (poppet against stops),
non-linear force relationships to fluid pressure and magnetic
fields, and non-linear current due to changing coil inductance.
[0149] The coil for the valve was modeled as an inductor in series
with a resistor. Voltage across the simple inductor and total
circuit resistance related to respective current as:
v.sub.L=L{dot over (i)}.sub.L
v.sub.R=Ri.sub.R
[0150] where L was the inductance of the coil, and R was the total
circuit resistance. Simulations of the valve revealed that coil
inductance was not constant, but varied as a function of both coil
current (i) and poppet displacement (x) as displacement related to
the air gap between the poppet and stator core. The simulation
result is displayed in FIG. 15, which show the relationship of coil
inductance to poppet air gap and coil current.
[0151] The complex relationship of coil inductance to coil current
resembled a sigmoid with minimum and maximum values. Inductance as
a function of poppet displacement also resembled a sigmoid shape
with inductance asymptotes related to a core with a closed gap and
a core with an infinite gap. However, because the valve operates in
a limited range of both coil current and poppet displacement,
inductance as a function of poppet displacement and coil current
was modeled as:
L = L 0 i L + L 1 x GAP i L ##EQU00002##
[0152] where constants L.sub.0=0.14 and L.sub.1=-15.70 (units were:
m, amps, and Henries). In cases where current i.sub.L<0.25 amps,
a minimum of current of 0.25 amps will be used in the calculation
of L.
[0153] Elemental coil relationships of voltage and current were
related using Kirchhoff's laws:
v.sub.S=v.sub.L+v.sub.R
i.sub.L=i.sub.R
[0154] Rearranging variables, the resulting state space parameters
are:
i L = v L L ##EQU00003## i L = v S - v R L ##EQU00003.2## i L = - R
L i R + 1 L v S ##EQU00003.3## x . 1 = - R L x 1 + 1 L u 1
##EQU00003.4##
[0155] So, a.sub.12=0, a.sub.13=0, b.sub.12=0, and:
a 11 = - R L ##EQU00004## b 11 = 1 L ##EQU00004.2##
[0156] Note that these parameters are non-linear since:
L = L 0 x 1 + L 1 x GAP x 1 ##EQU00005##
[0157] Poppet velocity is simply the derivative of displacement. In
the state space model, the derivative of displacement is expressed
as:
{dot over (x)}.sub.2=x.sub.3
[0158] So, parameters a.sub.21=0, a.sub.22=0, a.sub.23=1,
b.sub.21=0, and b.sub.22=0.
[0159] Forces on the poppet included a spring force (F.sub.k), a
normal force from fluid pressure (F.sub.n), a motion damping force
from fluid friction (F.sub.b), and a magnetic field force (F.sub.B)
from the solenoid coil. A free body diagram of forces acting on the
valve poppet is shown in FIG. 16.
[0160] Force from the spring was related to poppet displacement (x)
such that:
F.sub.k=k(x+x.sub.0)
[0161] where x.sub.0 was the length of compression of the spring at
a poppet displacement of zero. The spring constant (k) was 610 N/m
with a closed-valve spring compression length of x.sub.0=0.00401
m.
[0162] The normal force from fluid on the static poppet (F.sub.n)
from each orifice was a product of the fluid pressure across the
orifice (.DELTA.p) and the circular area:
F.sub.n=A.DELTA.p
[0163] where the area of the orifice with diameter (d) was:
A = .pi. ( d 2 ) 2 ##EQU00006##
[0164] Pressure was acquired from modeling the valve and spray
nozzle as 3 orifices in series. FIG. 17 displays a cross-sectional
view of an in-line valve with numbers labeling the 3 orifices,
wherein orifice #1 corresponds to the pressure throttling or valve
inlet orifice, orifice #2 corresponds to the valve outlet orifice
and orifice #3 corresponds to the spray nozzle orifice.
[0165] Net normal force from fluid pressure was:
F.sub.n=A.sub.i.DELTA.p.sub.i+.DELTA..sub.o.DELTA.p.sub.o
[0166] Where A.sub.i was the area of the circular inlet,
.DELTA.p.sub.i was the pressure across the inlet orifice (#1 from
FIG. 17), A.sub.o was the area of the circular outlet, and
.DELTA.p.sub.o was the pressure across the outlet orifice (#2 from
FIG. 17).
[0167] All orifices were modeled as:
Q=K.sub.V {square root over (.DELTA.p)}
[0168] where Q was the volumetric flow (l/s), .DELTA.p was the
pressure across the orifice (Pa), and K.sub.V was the flow
coefficient. The fluid flow was assumed to be constant so that
Q.sub.1=Q.sub.2=Q.sub.3. Pressures were modeled as
.DELTA.p.sub.1+.DELTA.p.sub.2+.DELTA.p.sub.3=p.sub.in (valve inlet
pressure). Using 3 simultaneous equations, the pressure in the
valve was found to be:
p valve = K V 1 2 K V 1 2 + K V 2 2 - K V 2 4 K V 2 2 + K V 3 2 p
in ##EQU00007##
[0169] and, the pressure in the nozzle was:
p nozzle = K V 2 2 K V 2 2 + K V 3 2 p valve ##EQU00008##
[0170] The pressure throttling orifice (#1 in FIG. 17) was modeled
using data collected from previous testing. The flow coefficient
(K.sub.V1) was modeled as the product of a constant metering
coefficient (C=1880 l/min/Pa.sup.0.5/m.sup.2) and the metering area
(m.sup.2):
K.sub.V=CA.sub.KV
[0171] When the poppet was sufficiently close to the orifice, the
controlling area of this disk throttling mechanism was:
A.sub.KV=.pi.dx
[0172] where d was the orifice diameter of 0.00397 m ( 5/32'') and
x was the distance of the poppet from the orifice. As the distance
of the poppet to the orifice increased, a maximum area was used.
The maximum area was the circular area of the orifice:
A KV_MAX = .pi. ( d 2 ) 2 ##EQU00009##
[0173] The valve outlet orifice (#2 in FIG. 17) was modeled
similarly to the pressure throttling orifice as a function of
poppet distance with a diameter of 0.00318 m (1/8''). A maximum
circular area was also used to limit the flow coefficient. Modeling
the valve orifices in this way resulted in flow coefficients as
shown in FIG. 18.
[0174] The spray nozzle orifice (#3 in FIG. 17) was modeled with a
flow coefficient calculated by the nominal size of the nozzle. In
simulation, the nozzle size was varied from size 03 to size 10.
[0175] The damping force from fluid (F.sub.b) was assumed to be the
same as from previous testing. The damping coefficient (b) of 11.0
N-s/m related force to poppet velocity as:
F.sub.b=b{dot over (x)}
[0176] Force on the valve poppet from the magnetic field was
dependent on the magnitude of the field acting on the gap area
between the moving ferritic poppet and the stator core of the
poppet barrel. For the modeled valve, force was determined to be a
function of both coil current and poppet displacement. FIGS. 19 and
20 show the results of the analysis, wherein FIG. 19 shows magnetic
field force as a function of the gap resulting from poppet
displacement and FIG. 20 shows magnetic force as a function of
solenoid current.
[0177] Based on the data in the graphs above, coil force was
modeled as a linear function of coil current with one term related
to poppet air gap:
F.sub.B=i.sub.L[C.sub.B1x.sub.GAP+C.sub.B2]
[0178] where C.sub.B1 and C.sub.B2 were constant multipliers
relating coil current and poppet air gap to magnetic field force.
Based on the data above, C.sub.B1=-2773 N/m-amp and C.sub.B2=17.5
N/amp.
[0179] The elemental equations of force displayed in FIG. 16 were
related to poppet motion using Newton's 2nd law:
.SIGMA.F=m{umlaut over (x)}
[0180] Rearranging and substituting force equations:
x = F B m - F k m - F b m - F n m ##EQU00010## x = [ C B 1 x GAP +
C B 2 ] m i L + - k m ( x + x 0 ) + - b m x . + - A i .DELTA.p i -
A o .DELTA.p o m ##EQU00010.2##
[0181] If state space variable x.sub.2, representing poppet
displacement, is referenced to the uncompressed spring length, the
state space equation becomes:
x . 3 = [ C B 1 ( x max - x 2 ) + C B 2 ] m x 1 + - k m x 2 + - b m
x 3 + - A i .DELTA.p i - A o .DELTA.p o m ##EQU00011## x . 3 = a 31
x 1 + a 32 x 2 + a 33 x 3 + b 32 u 2 ##EQU00011.2## where :
##EQU00011.3## a 31 = [ C B 1 ( x max - x 2 ) + C B 2 ] m
##EQU00011.4## a 32 = - k m ##EQU00011.5## a 33 = - b m
##EQU00011.6## b 31 = 0 ##EQU00011.7## b 32 = - A i + A i + C KV 1
- A o C KV 1 + A o C KV 1 C KV 2 m ##EQU00011.8## and :
##EQU00011.9## C KV 1 = K V 1 2 K V 1 2 + K V 2 2 - K V 2 4 K V 2 2
+ K V 3 2 ##EQU00011.10## C KV 2 = K V 2 2 K V 2 2 + K V 3 2
##EQU00011.11##
[0182] Note that parameters a.sub.31, K.sub.V1, and K.sub.V2 are
not constants but functions of poppet displacement.
[0183] Using the model described above, the in-line valve was then
analyzed to determine its dynamic response. As described above with
reference to one embodiment of the valve 100 shown in FIG. 1, the
in-line valve may be designed so that the valve is normally-closed
when the solenoid coil is off. Thus, fluid pressure has a tendency
to push the poppet against the outlet port to seal the valve.
However, when the valve is `pulsed`, the movement may be designed
to cycle between a poppet floating position (or throttling
position) and a poppet position which seals the inlet port.
[0184] In order for the valve to transition from a `closed`
position (in which the poppet sits against the outlet port) to a
`PWM off` position (in which the poppet sits against the inlet
port), a transition cycle (e.g., a 100-ms transition cycle) may be
enacted. The transition cycle turns the solenoid coil on with 100%
high-frequency duty cycle for 100 ms. The goal is to snap the valve
poppet from the outlet orifice to the inlet orifice as quickly as
possible.
[0185] The model was simulated with coil voltage=12.5 volts, fluid
inlet pressure=90 psi, a nozzle nominal size of 10, and initial
state variables of coil current=0 amps, poppet displacement=0 mm,
and poppet velocity=0 mm/s. Responses of coil current, poppet
displacement, poppet velocity, and valve outlet pressure for the
transition cycle are displayed in FIGS. 21, 22, 23, and 24. As
shown, the response of coil current was relatively slow.
[0186] Additionally, a step response was simulated in which the
poppet moved from the valve inlet seat to a throttled position.
This simulation was intended to observe the condition in which a
low-frequency PWM pulse enabled flow through the valve.
[0187] The model was simulated with coil voltage=5.5 volts, fluid
inlet pressure=90 psi, a nozzle nominal size of 10, and initial
state variables of coil current=1.0 amps (12.5-volt steady state),
poppet displacement=1.78 mm (against inlet seat), and poppet
velocity=0 mm/s. Responses of coil current, poppet displacement,
and outlet pressure for the PWM step input are displayed in FIGS.
25, 26, and 27. As the responses show, the slow coil current
transition resulted in slow poppet movement and slowly changing
outlet pressure.
[0188] As described above, previous tests with counter-flow valve
configurations had highlighted the use of a `coil charging period`
in which the high-frequency PWM duty cycle was set to 100% for a
duration determined by a valve controlling algorithm. The coil
charging period was designed to accelerate coil current change so
that the valve would transition to a partially-open steady-state
condition faster than with a simple step input.
[0189] In the case of an in-line valve, the high-frequency duty
cycle is already set at 100% at the beginning of a pulse because
the coil is actually holding the valve closed. In this case, the
`coil charging period` becomes a `coil discharging period` in which
the high-frequency PWM duty cycle is set to 0%.
[0190] The previous PWM-on transition was simulated again, but
included a coil discharging period in which the coil voltage was
set to 0.0 volts until the current decreased to the desired
steady-state value of 0.464 amps. The coil voltage then switched to
a constant 5.5 volts. Fluid inlet pressure remained 90 psi. Initial
state variables were the same as before: coil current=1.0 amp
(12.5-volt steady state), poppet displacement=1.78 mm (against
inlet seat), and poppet velocity=0 mm/s. Responses of coil current,
poppet displacement, and outlet pressure for the PWM step input
with the coil discharging period are displayed in FIGS. 28, 29, and
30. As the results show, the coil discharging period significantly
decreased the turn-on time of the valve. With a simple step input
of coil voltage, the valve began opening after 17 ms and reached
steady state after 95 ms. With the coil discharging period, the
valve began opening after 8 ms and outlet pressure reached steady
state after 15 ms.
[0191] To further increase response of the valve, a FET was used to
actively engage and disengage the feedback diode parallel to the
coil. The act of setting the coil FET duty cycle to 0%, and
simultaneously disengaging the feedback diode, cut off the coil
current path. The result was a charge buildup on the FET side of
the coil. Because the FET was protected by an ESD zener diode with
a breakdown of 39 volts, and the supply voltage was 12 volts, the
coil experienced a temporary voltage drop of -27 volts (12 volts-39
volts).
[0192] The PWM-on transition was simulated a third time. However,
the coil discharging period utilized a coil voltage of -27.0 volts
until the current decreased to the desired steady-state value of
0.464 amps. The coil voltage then switched to a constant 5.5 volts.
Responses of coil current, poppet displacement, and outlet pressure
are displayed in FIGS. 31, 32, and 33. As the results show, the
coil current and valve outlet pressure transitioned very quickly to
steady state values.
[0193] The overshoot in FIG. 33 indicated that very rapid coil
current changes may result in an under-damped valve response.
Slight modifications of valve geometry may allow for a
critically-damped response, in which the outlet pressure reaches
steady state more rapidly with minimal overshoot.
Development of a Solenoid Drive Circuit and Algorithm
[0194] The solenoid coil was driven with a custom microcontroller
circuit containing a Control Area Network (CAN) transceiver, a
source voltage sensing circuit, a current-sinking Field Effect
Transistor (FET), a coil current sensing circuit, and 2 analog
inputs connected to pressure transducers for microcontroller
measurement of inlet and outlet pressure. The drive circuit was
connected to a nozzle assembly (including a spray nozzle and a
solenoid valve configured similar to the valve shown in FIG. 11)
such that the FET was used to sink current from the coil, and its
corresponding current-sensing circuit measured coil current during
the ON cycle of the FET. A Schottky diode was connected parallel to
the solenoid valve so that current flowing through the valve would
feed back to the source in the instance that the FET turned off.
The inductance of the coil and the high frequency switching of the
FET resulted in nearly continuous current through the solenoid
valve.
[0195] The pulse timing was regulated by the circuit's
microcontroller. A "pulse" consisted of a 100 millisecond cycle in
which a low frequency duty cycle value set the amount of on/off
time. The "on" time consisted of a "coil charging period" in which
the drive FET was turned on continuously and a "modulated period"
in which the FET was turned on and off at a frequency of 10 kHz.
The duration of the coil charging period was determined by the
amount of time for the coil current to reach the desired steady
state value. Coil current was continuously measured and compared to
a threshold in order to trigger drive switching to a modulated
signal.
[0196] Communication over the CAN bus allowed an operator to change
parameters that controlled timing. Software pressure control
utilized an iterative algorithm of trial poppet displacements to
calculate the required coil current which would throttle outlet
pressure to the desired value. The steps of this method
included:
[0197] 1. Input the size of spray nozzle (indicated spray nozzle
flow coefficient flow/pressure 0.5)
[0198] 2. The system models multiple orifices in series and uses
orifice equations to calculate orifice pressure drop ratios
(pressure across valve/valve inlet pressure) for the varied trial
poppet displacements based on size of the spray nozzle
[0199] 3. At the beginning of a pulse, the high-frequency PWM is
set to 100% (0% for coil discharging) and the current feedback
switch is opened
[0200] 4. The system measures the voltage supplied to the
controller
[0201] 5. The supply voltage is divided by the coil resistance to
calculate the maximum coil current
[0202] 6. The system measures inlet pressure
[0203] 7. The inlet pressure is multiplied by the orifice pressure
drop ratios to determine the resulting outlet pressures for the
varied trial poppet displacements
[0204] 8. The calculated outlet pressures are compared to the
desired outlet pressure to determine the desired poppet
displacement
[0205] 9. Desired poppet displacement is used with measured inlet
pressure to calculate the fluid force on the poppet
[0206] 10. Desired poppet displacement is used to calculate the
spring force
[0207] 11. The coil force is calculated by equating the sum of all
poppet forces to zero (equilibrium)
[0208] 12. The coil force is used to calculate the desired coil
current
[0209] 13. The coil current is continually measured and compared to
desired coil current
[0210] 14. When the measured coil current equals the desired coil
current, the high-frequency PWM is set to the percentage of the
desired coil current divided by the maximum coil current and the
current feedback switch is closed
[0211] 15. The poppet moves to the desired position resulting from
the equilibrium of forces
[0212] The drive circuit and control algorithm above was simulated
to determine valve outlet pressure response. In one simulation,
inlet pressure was 90 psi, supply voltage was a constant 12.5
volts, desired pulse duty cycle was set to 50%, and desired outlet
pressure was set to 40 psi. In FIG. 34, the resulting outlet
pressure is shown.
Evaluation of Performance
Valve and Control Circuit
[0213] The performance of the disclosed valves was also assessed
for two specific characteristics: the ability to control droplet
size spectrum through proportional pressure control and the ability
to control time-averaged volumetric flow rate at constant and
varied pressures. Within these two primary verification objectives,
several performance parameters affected the quality of the
application. Among these were liquid pulse turn on time, liquid
pulse turn off time, outlet pressure stability, and range of inlet
pressure operation.
[0214] To assess these characteristics, a solenoid valve configured
similar to the valve shown in FIG. 11 was connected to a
pressurized water supply consisting of a stainless steel tank in
which the head of air was regulated to a constant pressure. A clear
nylon tube connected the supply tank to the valve apparatus with
pressure transducers connected to the inlet and outlet of the
valve. The valve apparatus also included a laser distance sensor in
which the laser was aimed through a hole to measure valve poppet
displacement. The valve was ported "under seat" so that the
pressurized inlet attempted to push the poppet open. The valve's
outlet port was connected to a spray nozzle cap. An adjustable
supply voltage was used to power the valve drive circuit. Voltage
measurements from the coil sink voltage, the coil current, the
poppet displacement, and the valve outlet pressure were logged with
an oscilloscope.
[0215] Nozzle spray droplet size was measured with a particle size
analyzer. The valve and nozzle apparatus was connected to a
conveyer which swept the apparatus horizontally 20 inches above the
analyzer's detection laser. The nozzle spray fan and sweep
direction were oriented perpendicular to the detection laser and
the duration of the sweep was approximately 6 seconds. Average
volumetric flow was measured by catching the spray out of the
nozzle and recording the spray time and liquid volume.
[0216] Target pressure and pulse duty cycle values were identified
for 3 nozzle sizes (fan nozzles 11002, 11004, and 11008), which are
commercially available from TEEJET SPRAYING SYSTEMS. Target
pressures for the nozzles were achieved using the control method in
which the operator input a desired pressure. A steady state inlet
pressure of 90 psi and a steady state supply voltage were used for
all of the repetition trials. Additional tests were conducted on an
11004 DRIFT-GUARD nozzle, a D5-45 cone nozzle, and an 11004 nozzle
with varied supply voltage and inlet pressure. The varied input
trials were conducted to verify that the algorithm successfully
compensated the coil drive signal for varied input conditions.
[0217] For every given combination of setpoints: nozzle, target
pressure, pulse duty cycle, and repetition, waveforms were captured
showing time relationships between the drive signal and the
responding outlet pressure. Following the pulse trigger, pressure
turn-on and turn-off times varied slightly but averaged about 8 ms
each. Pressures reached steady state after 15 ms. FIG. 35 shows the
relationship between target outlet pressure and measured outlet
pressure for the trials performed.
[0218] The mathematical models demonstrated a relationship between
the high-frequency duty cycle (percent of maximum coil current) and
the outlet pressure. Given a constant supply voltage, a constant
inlet pressure, and a constant nozzle flow coefficient, outlet
pressure should be a nearly linear function of high-frequency duty
cycle. FIG. 36 displays the measured relationships between outlet
pressure and percent of maximum current (high frequency duty) for
the trials performed.
[0219] One primary performance characteristic of the valve was the
ability to control time-averaged volumetric flow rate at constant
and varied pressures. Valve outlet pressure (nozzle pressure),
nozzle size, and valve pulse duty cycle all affect the volumetric
flow rate through the valve and nozzle. The graph in FIG. 37 shows
the relationships between average volumetric flow and fluid flow
duty cycle given the other parameters.
[0220] The linear relationships of each data set illustrated the
ability to regulate volumetric flow rate through pulse duty cycle
control. Further, target pressure and pulse duty cycle values were
used to predict volumetric fluid flow based on orifice equations.
FIG. 38 shows the relationships between the predicted fluid flow
and the measured volumetric flow.
[0221] The other primary performance characteristic of the valve
was the ability to control spray droplet size spectra during pulsed
flow control. Test data for the commonly-used 11004 fan nozzle are
shown in FIGS. 39A-39C. It must be noted that these data represent
total control of the spray process. The inlet spray liquid pressure
was maintained at 90 psi. Target nozzle pressures were achieved for
15, 30 and 60 psi and the flow control of 25%, 75% and 100% using
the single valve actuator. The data show that the integrity of the
droplet size spectrum is maintained during the control process and
that the valve/drive electronics can achieve flow and droplet size
control. In FIGS. 40A and 40B, example results for the small 11002
nozzle at low pulsing flow of 25% (FIG. 40A) and the large 11008
nozzle at higher pulsing flow of 75% (FIG. 40B), wherein the inlet
spray liquid pressure was maintained at 90 psi. These data indicate
that the single actuator can perform across the operating range of
agricultural spray nozzle capacities and pressures.
[0222] This written description uses examples to disclose the
invention, including the best mode, and also to enable any person
skilled in the art to practice the invention, including making and
using any devices or systems and performing any incorporated
methods. The patentable scope of the invention is defined by the
claims, and may include other examples that occur to those skilled
in the art. Such other examples are intended to be within the scope
of the claims if they include structural elements that do not
differ from the literal language of the claims, or if they include
equivalent structural elements with insubstantial differences from
the literal languages of the claims.
* * * * *